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| 1 | // | ||
| 2 | // Copyright (c) 2018 CNRS | ||
| 3 | // Authors: Pierre Fernbach | ||
| 4 | // | ||
| 5 | // This file is part of bezier_COM_traj | ||
| 6 | // hpp-core is free software: you can redistribute it | ||
| 7 | // and/or modify it under the terms of the GNU Lesser General Public | ||
| 8 | // License as published by the Free Software Foundation, either version | ||
| 9 | // 3 of the License, or (at your option) any later version. | ||
| 10 | // | ||
| 11 | // hpp-core is distributed in the hope that it will be | ||
| 12 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
| 13 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| 14 | // General Lesser Public License for more details. You should have | ||
| 15 | // received a copy of the GNU Lesser General Public License along with | ||
| 16 | // hpp-core If not, see | ||
| 17 | // <http://www.gnu.org/licenses/>. | ||
| 18 | |||
| 19 | #define BOOST_TEST_MODULE transition | ||
| 20 | #include <boost/test/included/unit_test.hpp> | ||
| 21 | #include <hpp/bezier-com-traj/common_solve_methods.hh> | ||
| 22 | #include <hpp/bezier-com-traj/data.hh> | ||
| 23 | #include <hpp/bezier-com-traj/solve.hh> | ||
| 24 | #include <hpp/centroidal-dynamics/centroidal_dynamics.hh> | ||
| 25 | |||
| 26 | #include "test_helper.hh" | ||
| 27 | |||
| 28 | #define NOMINAL_COM_HEIGHT 0.795 | ||
| 29 | |||
| 30 | 47 | std::vector<double> computeDiscretizedTime(const VectorX& phaseTimings, | |
| 31 | const int pointsPerPhase) { | ||
| 32 | 47 | std::vector<double> timeArray; | |
| 33 | 47 | double t = 0; | |
| 34 | 47 | double t_total = 0; | |
| 35 |
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182 | for (long int i = 0; i < phaseTimings.size(); ++i) t_total += phaseTimings[i]; |
| 36 | |||
| 37 |
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182 | for (long int i = 0; i < phaseTimings.size(); ++i) { |
| 38 |
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135 | double step = (double)phaseTimings[i] / pointsPerPhase; |
| 39 |
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810 | for (int j = 0; j < pointsPerPhase; ++j) { |
| 40 | 675 | t += step; | |
| 41 |
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675 | timeArray.push_back(t); |
| 42 | } | ||
| 43 | } | ||
| 44 | 47 | timeArray.pop_back(); | |
| 45 |
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47 | timeArray.push_back(t_total); // avoid numerical errors |
| 46 | 94 | return timeArray; | |
| 47 | ✗ | } | |
| 48 | |||
| 49 | 763 | bool check_constraints(const bezier_com_traj::ContactData& contactPhase, | |
| 50 | Vector3 c, Vector3 dc, Vector3 ddc) { | ||
| 51 |
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763 | BOOST_CHECK(verifyKinematicConstraints( |
| 52 | std::make_pair(contactPhase.Kin_, contactPhase.kin_), c)); | ||
| 53 |
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763 | BOOST_CHECK( |
| 54 | verifyStabilityConstraintsDLP(*contactPhase.contactPhase_, c, dc, ddc)); | ||
| 55 |
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763 | BOOST_CHECK( |
| 56 | verifyStabilityConstraintsPP(*contactPhase.contactPhase_, c, dc, ddc)); | ||
| 57 | 763 | return true; | |
| 58 | } | ||
| 59 | |||
| 60 | 47 | void discretized_check(const bezier_com_traj::ProblemData& pData, | |
| 61 | const VectorX& Ts, | ||
| 62 | const bezier_com_traj::ResultDataCOMTraj& res, | ||
| 63 | const int pointsPerPhase, const double t_total) { | ||
| 64 | // check if timing is respected | ||
| 65 |
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47 | std::vector<double> timings = computeDiscretizedTime(Ts, pointsPerPhase); |
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47 | BOOST_CHECK_EQUAL(timings.back(), t_total); |
| 67 | |||
| 68 |
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47 | Vector3 c, dc, ddc; |
| 69 |
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47 | bezier_com_traj::bezier_t ct = res.c_of_t_; |
| 70 |
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47 | bezier_com_traj::bezier_t dct = ct.compute_derivate(1); |
| 71 |
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47 | bezier_com_traj::bezier_t ddct = dct.compute_derivate(1); |
| 72 | |||
| 73 |
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47 | BOOST_CHECK_EQUAL(ct.min(), 0); |
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47 | BOOST_CHECK_EQUAL(dct.min(), 0); |
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47 | BOOST_CHECK_EQUAL(ddct.min(), 0); |
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47 | BOOST_CHECK_EQUAL(ct.max(), t_total); |
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47 | BOOST_CHECK_EQUAL(dct.max(), t_total); |
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47 | BOOST_CHECK_EQUAL(ddct.max(), t_total); |
| 79 | |||
| 80 | // check if each discretized point is feasible : | ||
| 81 | |||
| 82 | std::vector<int> | ||
| 83 | 47 | stepIdForPhase; // stepIdForPhase[i] is the id of the last step of phase | |
| 84 | // i / first step of phase i+1 (overlap) | ||
| 85 |
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182 | for (int i = 0; i < Ts.size(); ++i) |
| 86 |
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135 | stepIdForPhase.push_back(pointsPerPhase * (i + 1) - 1); |
| 87 | 47 | std::size_t id_phase = 0; | |
| 88 |
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47 | bezier_com_traj::ContactData phase = pData.contacts_[id_phase]; |
| 89 | |||
| 90 |
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722 | for (size_t id_step = 0; id_step < timings.size(); ++id_step) { |
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675 | c = ct(timings[id_step]); |
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675 | dc = dct(timings[id_step]); |
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675 | ddc = ddct(timings[id_step]); |
| 94 | |||
| 95 | // check i (c,dc,ddc) verify the constraints of current phase | ||
| 96 |
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675 | check_constraints(phase, c, dc, ddc); |
| 97 | |||
| 98 | // check if we switch phases | ||
| 99 |
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1995 | for (std::size_t i = 0; i < (stepIdForPhase.size() - 1); ++i) { |
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1320 | if (id_step == (std::size_t)stepIdForPhase[i]) { |
| 101 | 88 | id_phase = i + 1; | |
| 102 |
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88 | phase = pData.contacts_[id_phase]; |
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88 | check_constraints(phase, c, dc, ddc); |
| 104 | } | ||
| 105 | } | ||
| 106 | } | ||
| 107 | 47 | } | |
| 108 | |||
| 109 | 51 | void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts, | |
| 110 | bool shouldFail = false, bool continuous = false, | ||
| 111 | bool test_continuous = true) { | ||
| 112 |
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51 | BOOST_CHECK_EQUAL(pData.contacts_.size(), Ts.size()); |
| 113 | |||
| 114 | 51 | double t_total = 0; | |
| 115 |
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198 | for (long int i = 0; i < Ts.size(); ++i) t_total += Ts[i]; |
| 116 | |||
| 117 | 51 | int pointsPerPhase = 5; | |
| 118 | |||
| 119 | // check if transition is feasible (should be) | ||
| 120 |
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51 | bezier_com_traj::ResultDataCOMTraj res; |
| 121 |
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51 | if (continuous) { |
| 122 | // testing all available solvers | ||
| 123 |
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56 | res = bezier_com_traj::computeCOMTraj(pData, Ts, -1, |
| 124 |
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28 | solvers::SOLVER_QUADPROG); |
| 125 | 28 | if (pData.representation_ == bezier_com_traj::FORCE) { | |
| 126 | /*bezier_com_traj::ResultDataCOMTraj res2 = | ||
| 127 | bezier_com_traj::computeCOMTraj(pData,Ts,-1,solvers::SOLVER_QUADPROG_SPARSE); | ||
| 128 | BOOST_CHECK(res.success_ == res2.success_); | ||
| 129 | if(res.success_) | ||
| 130 | { | ||
| 131 | std::cout << " x " << res.cost_ << std::endl; | ||
| 132 | std::cout << " x2 " << res2.cost_ << std::endl; | ||
| 133 | discretized_check(pData,Ts,res2,pointsPerPhase,t_total); | ||
| 134 | BOOST_CHECK(!res.success_ || (res.x.head<3>() - | ||
| 135 | res2.x.head<3>()).norm() < EPSILON); | ||
| 136 | }*/ | ||
| 137 | #ifdef USE_GLPK_SOLVER | ||
| 138 | // clock_t s0,e0; | ||
| 139 | // s0 = clock(); | ||
| 140 | bezier_com_traj::ResultDataCOMTraj res3 = | ||
| 141 | bezier_com_traj::computeCOMTraj(pData, Ts, -1, solvers::SOLVER_GLPK); | ||
| 142 | // e0 = clock(); | ||
| 143 | // std::cout<<"Time to perform full lp : | ||
| 144 | // "<<((double)(e0-s0)/CLOCKS_PER_SEC)*1000.<<" ms "<<std::endl; | ||
| 145 | BOOST_CHECK(res.success_ == res3.success_); | ||
| 146 | if (res3.success_) { | ||
| 147 | discretized_check(pData, Ts, res3, pointsPerPhase, t_total); | ||
| 148 | } | ||
| 149 | #endif | ||
| 150 | } | ||
| 151 | } else | ||
| 152 |
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23 | res = bezier_com_traj::computeCOMTrajFixedSize(pData, Ts, pointsPerPhase); |
| 153 | |||
| 154 |
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51 | if (shouldFail) { |
| 155 |
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4 | BOOST_CHECK(!res.success_); |
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4 | if (test_continuous) { |
| 157 |
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8 | res = bezier_com_traj::computeCOMTraj(pData, Ts, -1, |
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4 | solvers::SOLVER_QUADPROG); |
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4 | BOOST_CHECK(!res.success_); |
| 160 | 4 | pData.representation_ = bezier_com_traj::FORCE; | |
| 161 |
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8 | res = bezier_com_traj::computeCOMTraj(pData, Ts, -1, |
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4 | solvers::SOLVER_QUADPROG); |
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4 | BOOST_CHECK(!res.success_); |
| 164 | #ifdef USE_GLPK_SOLVER | ||
| 165 | res = | ||
| 166 | bezier_com_traj::computeCOMTraj(pData, Ts, -1, solvers::SOLVER_GLPK); | ||
| 167 | BOOST_CHECK(!res.success_); | ||
| 168 | #endif | ||
| 169 | } | ||
| 170 | 4 | return; | |
| 171 | } | ||
| 172 | |||
| 173 |
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47 | BOOST_CHECK(res.success_); |
| 174 | |||
| 175 |
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47 | if (res.success_) discretized_check(pData, Ts, res, pointsPerPhase, t_total); |
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47 | if (continuous && |
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28 | pData.representation_ == bezier_com_traj::DOUBLE_DESCRIPTION) { |
| 178 | 14 | pData.representation_ = bezier_com_traj::FORCE; | |
| 179 |
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14 | check_transition(pData, Ts, shouldFail, true); |
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33 | } else if (!continuous && test_continuous) |
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14 | check_transition(pData, Ts, shouldFail, true); |
| 182 | else { | ||
| 183 |
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74 | for (size_t i = 0; i < pData.contacts_.size(); ++i) { |
| 184 |
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55 | delete pData.contacts_[i].contactPhase_; |
| 185 | } | ||
| 186 | } | ||
| 187 |
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51 | } |
| 188 | |||
| 189 | BOOST_AUTO_TEST_SUITE(flat_ground) | ||
| 190 | |||
| 191 | // one step (left foot) : init pos of end effector : (0,0.1)(0,-0.1) | ||
| 192 | // end pos : (0.3,0.1)(0,-0.1) | ||
| 193 | // three phases : both feet in contact, only right feet, both feet | ||
| 194 | |||
| 195 | 20 | bezier_com_traj::ContactData phase0_flat() { | |
| 196 |
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20 | bezier_com_traj::ContactData cData; |
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20 | MatrixX3 normals(2, 3), positions(2, 3); |
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20 | normals.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
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20 | positions.block<1, 3>(0, 0) = Vector3(0, 0.1, 0); |
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20 | normals.block<1, 3>(1, 0) = Vector3(0, 0, 1); |
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20 | positions.block<1, 3>(1, 0) = Vector3(0, -0.1, 0); |
| 202 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 203 |
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20 | computeRectangularContacts(normals, positions, LX, LY); |
| 204 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 205 |
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20 | ComputeContactCone(contacts.first, contacts.second)); |
| 206 | |||
| 207 | ConstraintsPair kin1 = | ||
| 208 |
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20 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0, -0.1, 0)); |
| 209 | ConstraintsPair kin = stackConstraints( | ||
| 210 | kin1, | ||
| 211 |
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20 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0, 0.1, 0))); |
| 212 |
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20 | cData.Kin_ = kin.first; |
| 213 |
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20 | cData.kin_ = kin.second; |
| 214 | |||
| 215 | 40 | return cData; | |
| 216 | 20 | } | |
| 217 | |||
| 218 | 21 | bezier_com_traj::ContactData phase1_flat() { | |
| 219 |
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21 | bezier_com_traj::ContactData cData; |
| 220 |
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21 | MatrixX3 normals(1, 3), positions(1, 3); |
| 221 |
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21 | normals.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
| 222 |
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21 | positions.block<1, 3>(0, 0) = Vector3(0, -0.1, 0); |
| 223 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 224 |
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21 | computeRectangularContacts(normals, positions, LX, LY); |
| 225 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 226 |
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21 | ComputeContactCone(contacts.first, contacts.second)); |
| 227 | |||
| 228 | ConstraintsPair kin = | ||
| 229 |
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21 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0, -0.1, 0)); |
| 230 |
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21 | cData.Kin_ = kin.first; |
| 231 |
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21 | cData.kin_ = kin.second; |
| 232 | |||
| 233 | 42 | return cData; | |
| 234 | 21 | } | |
| 235 | |||
| 236 | 20 | bezier_com_traj::ContactData phase2_flat() { | |
| 237 |
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20 | bezier_com_traj::ContactData cData; |
| 238 |
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20 | MatrixX3 normals(2, 3), positions(2, 3); |
| 239 |
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20 | normals.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
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20 | positions.block<1, 3>(0, 0) = Vector3(0.3, 0.1, 0); |
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20 | normals.block<1, 3>(1, 0) = Vector3(0, 0, 1); |
| 242 |
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20 | positions.block<1, 3>(1, 0) = Vector3(0, -0.1, 0); |
| 243 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 244 |
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20 | computeRectangularContacts(normals, positions, LX, LY); |
| 245 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 246 |
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20 | ComputeContactCone(contacts.first, contacts.second)); |
| 247 | |||
| 248 | ConstraintsPair kin1 = | ||
| 249 |
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20 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0, -0.1, 0)); |
| 250 | ConstraintsPair kin = stackConstraints( | ||
| 251 | kin1, | ||
| 252 |
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20 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0.3, 0.1, 0))); |
| 253 |
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20 | cData.Kin_ = kin.first; |
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20 | cData.kin_ = kin.second; |
| 255 | |||
| 256 | 40 | return cData; | |
| 257 | 20 | } | |
| 258 | |||
| 259 | 20 | bezier_com_traj::ProblemData gen_problem_data_flat() { | |
| 260 | 20 | bezier_com_traj::ProblemData pData; | |
| 261 |
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20 | pData.c0_ = Vector3(0, 0, NOMINAL_COM_HEIGHT); |
| 262 |
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20 | pData.c1_ = Vector3(0.15, 0, NOMINAL_COM_HEIGHT); |
| 263 |
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20 | pData.dc0_ = Vector3::Zero(); |
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20 | pData.dc1_ = Vector3::Zero(); |
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20 | pData.ddc0_ = Vector3::Zero(); |
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20 | pData.ddc1_ = Vector3::Zero(); |
| 267 | |||
| 268 |
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20 | pData.contacts_.push_back(phase0_flat()); |
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20 | pData.contacts_.push_back(phase1_flat()); |
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20 | pData.contacts_.push_back(phase2_flat()); |
| 271 | |||
| 272 | 20 | return pData; | |
| 273 | ✗ | } | |
| 274 | |||
| 275 |
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4 | BOOST_AUTO_TEST_CASE(quasi_static) { |
| 276 | // compute kinematic constraints for the right foot : | ||
| 277 | ConstraintsPair kin1 = | ||
| 278 |
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2 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0, -0.1, 0)); |
| 279 | ConstraintsPair kin0 = stackConstraints( | ||
| 280 | kin1, | ||
| 281 |
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2 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0, 0.1, 0))); |
| 282 | ConstraintsPair kin2 = stackConstraints( | ||
| 283 | kin1, | ||
| 284 |
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2 | generateKinematicsConstraints(Matrix3::Identity(), Vector3(0.3, 0.1, 0))); |
| 285 | |||
| 286 |
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2 | bezier_com_traj::ContactData cDataMid = phase1_flat(); |
| 287 |
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2 | ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_); |
| 288 | |||
| 289 |
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2 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
| 290 |
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2 | Vector3 init = Vector3::Zero(); |
| 291 | |||
| 292 |
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2 | ConstraintsPair Ab_first = stackConstraints(kin0, stab); |
| 293 | bezier_com_traj::ResultData res_first = | ||
| 294 |
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2 | bezier_com_traj::solve(Ab_first, Hg, init); |
| 295 |
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2 | BOOST_CHECK(res_first.success_); |
| 296 | |||
| 297 |
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2 | ConstraintsPair Ab_second = stackConstraints(kin2, stab); |
| 298 | bezier_com_traj::ResultData res_second = | ||
| 299 |
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2 | bezier_com_traj::solve(Ab_second, Hg, init); |
| 300 |
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2 | BOOST_CHECK(res_second.success_); |
| 301 |
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2 | delete cDataMid.contactPhase_; |
| 302 | 2 | } | |
| 303 | |||
| 304 |
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4 | BOOST_AUTO_TEST_CASE(transition) { |
| 305 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 306 |
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2 | VectorX Ts(3); |
| 307 |
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2 | Ts << 0.6, 0.6, 0.6; |
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2 | check_transition(pData, Ts); |
| 309 | 2 | } | |
| 310 | |||
| 311 |
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4 | BOOST_AUTO_TEST_CASE(transition_noc1) { |
| 312 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 313 | 2 | pData.constraints_.flag_ = bezier_com_traj::INIT_POS | | |
| 314 | 2 | bezier_com_traj::INIT_VEL | | |
| 315 | bezier_com_traj::END_VEL; | ||
| 316 |
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2 | VectorX Ts(3); |
| 317 |
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2 | Ts << 0.6, 0.6, 0.6; |
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2 | check_transition(pData, Ts); |
| 319 | 2 | } | |
| 320 | |||
| 321 |
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4 | BOOST_AUTO_TEST_CASE(transition_no_terminal_constraints) { |
| 322 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 323 | 2 | pData.contacts_.pop_back(); | |
| 324 | 2 | pData.contacts_.pop_back(); | |
| 325 | 2 | pData.constraints_.flag_ = bezier_com_traj::INIT_POS | | |
| 326 | 2 | bezier_com_traj::INIT_VEL | | |
| 327 | bezier_com_traj::INIT_ACC; | ||
| 328 |
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2 | VectorX Ts(1); |
| 329 |
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2 | Ts << 0.2; |
| 330 |
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2 | check_transition(pData, Ts, false, false, true); |
| 331 | 2 | } | |
| 332 | |||
| 333 |
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4 | BOOST_AUTO_TEST_CASE(transition_noDc1) { |
| 334 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 335 | 2 | pData.constraints_.flag_ ^= bezier_com_traj::END_VEL; | |
| 336 |
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2 | VectorX Ts(3); |
| 337 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 338 |
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2 | check_transition(pData, Ts); |
| 339 | 2 | } | |
| 340 | |||
| 341 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0) { |
| 342 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 343 | 2 | pData.constraints_.flag_ |= bezier_com_traj::INIT_ACC; | |
| 344 |
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2 | VectorX Ts(3); |
| 345 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 346 |
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2 | check_transition(pData, Ts); |
| 347 | 2 | } | |
| 348 | |||
| 349 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1) { |
| 350 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 351 | 2 | pData.constraints_.flag_ |= bezier_com_traj::INIT_ACC; | |
| 352 | 2 | pData.constraints_.flag_ |= bezier_com_traj::END_ACC; | |
| 353 |
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2 | VectorX Ts(3); |
| 354 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 355 |
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2 | check_transition(pData, Ts); |
| 356 | 2 | } | |
| 357 | |||
| 358 |
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4 | BOOST_AUTO_TEST_CASE(transition_noAcc) { |
| 359 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 360 | 2 | pData.constraints_.constraintAcceleration_ = false; | |
| 361 |
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2 | VectorX Ts(3); |
| 362 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 363 |
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2 | check_transition(pData, Ts); |
| 364 | 2 | } | |
| 365 | |||
| 366 |
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4 | BOOST_AUTO_TEST_CASE(transition_noDc1_noAcc) { |
| 367 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 368 | 2 | pData.constraints_.flag_ ^= bezier_com_traj::END_VEL; | |
| 369 | 2 | pData.constraints_.constraintAcceleration_ = false; | |
| 370 |
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2 | VectorX Ts(3); |
| 371 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 372 |
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2 | check_transition(pData, Ts); |
| 373 | 2 | } | |
| 374 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_noAcc) { |
| 375 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 376 | 2 | pData.constraints_.flag_ |= bezier_com_traj::INIT_ACC; | |
| 377 | 2 | pData.constraints_.constraintAcceleration_ = false; | |
| 378 |
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2 | VectorX Ts(3); |
| 379 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 380 |
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2 | check_transition(pData, Ts); |
| 381 | 2 | } | |
| 382 | |||
| 383 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_noAcc) { |
| 384 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 385 | pData.constraints_.flag_ |= | ||
| 386 | 2 | bezier_com_traj::INIT_ACC | bezier_com_traj::END_ACC; | |
| 387 | 2 | pData.constraints_.constraintAcceleration_ = false; | |
| 388 |
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2 | VectorX Ts(3); |
| 389 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 390 |
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2 | check_transition(pData, Ts); |
| 391 | 2 | } | |
| 392 | |||
| 393 |
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4 | BOOST_AUTO_TEST_CASE(transition_Acc1) { |
| 394 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 395 | 2 | pData.constraints_.maxAcceleration_ = 1.; | |
| 396 |
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2 | VectorX Ts(3); |
| 397 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 398 |
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2 | check_transition(pData, Ts, false, false, |
| 399 | false); // fail with continuous formulation | ||
| 400 | 2 | } | |
| 401 | |||
| 402 |
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4 | BOOST_AUTO_TEST_CASE(transition_noDc1_Acc1) { |
| 403 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 404 | 2 | pData.constraints_.flag_ ^= bezier_com_traj::END_VEL; | |
| 405 | 2 | pData.constraints_.maxAcceleration_ = 1.; | |
| 406 |
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2 | VectorX Ts(3); |
| 407 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 408 |
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2 | check_transition(pData, Ts, false, false, |
| 409 | false); // fail with continuous formulation | ||
| 410 | 2 | } | |
| 411 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_Acc2) { |
| 412 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 413 | 2 | pData.constraints_.flag_ |= bezier_com_traj::INIT_ACC; | |
| 414 | 2 | pData.constraints_.maxAcceleration_ = 2.; | |
| 415 |
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2 | VectorX Ts(3); |
| 416 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 417 |
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2 | check_transition(pData, Ts, false, false, |
| 418 | false); // fail with continuous formulation | ||
| 419 | 2 | } | |
| 420 | |||
| 421 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc2) { |
| 422 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 423 | pData.constraints_.flag_ |= | ||
| 424 | 2 | bezier_com_traj::INIT_ACC | bezier_com_traj::END_ACC; | |
| 425 | 2 | pData.constraints_.maxAcceleration_ = 2.; | |
| 426 |
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2 | VectorX Ts(3); |
| 427 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 428 |
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2 | check_transition(pData, Ts); |
| 429 | 2 | } | |
| 430 | |||
| 431 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc05) { |
| 432 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 433 | pData.constraints_.flag_ |= | ||
| 434 | 2 | bezier_com_traj::INIT_ACC | bezier_com_traj::END_ACC; | |
| 435 | 2 | pData.constraints_.maxAcceleration_ = 0.5; | |
| 436 |
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2 | VectorX Ts(3); |
| 437 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 438 |
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2 | check_transition(pData, Ts, false, false, |
| 439 | false); // fail with continuous formulation | ||
| 440 | 2 | } | |
| 441 | |||
| 442 |
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4 | BOOST_AUTO_TEST_CASE(transition_Acc05) { |
| 443 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 444 | 2 | pData.constraints_.maxAcceleration_ = 0.5; | |
| 445 |
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2 | VectorX Ts(3); |
| 446 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 447 |
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2 | check_transition(pData, Ts, false, false, |
| 448 | false); // fail with continuous formulation | ||
| 449 | 2 | } | |
| 450 | |||
| 451 | // constraints that should fails : | ||
| 452 | |||
| 453 |
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4 | BOOST_AUTO_TEST_CASE(transition_Acc02) { |
| 454 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 455 | 2 | pData.constraints_.maxAcceleration_ = 0.2; | |
| 456 | 2 | pData.constraints_.constraintAcceleration_ = true; | |
| 457 |
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2 | VectorX Ts(3); |
| 458 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 459 |
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2 | check_transition(pData, Ts, true); |
| 460 | 2 | } | |
| 461 | |||
| 462 |
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4 | BOOST_AUTO_TEST_CASE(transition_noDc1_Acc05) { |
| 463 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 464 | 2 | pData.constraints_.flag_ ^= bezier_com_traj::END_VEL; | |
| 465 | 2 | pData.constraints_.maxAcceleration_ = 0.5; | |
| 466 | 2 | pData.constraints_.constraintAcceleration_ = true; | |
| 467 |
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2 | VectorX Ts(3); |
| 468 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 469 |
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2 | check_transition(pData, Ts, true); |
| 470 | 2 | } | |
| 471 | |||
| 472 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_Acc1) { |
| 473 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 474 | 2 | pData.constraints_.flag_ |= bezier_com_traj::INIT_ACC; | |
| 475 | 2 | pData.constraints_.maxAcceleration_ = 1.; | |
| 476 | 2 | pData.constraints_.constraintAcceleration_ = true; | |
| 477 |
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2 | VectorX Ts(3); |
| 478 |
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2 | Ts << 0.6, 0.6, 0.6; |
| 479 |
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2 | check_transition(pData, Ts, true); |
| 480 | 2 | } | |
| 481 | |||
| 482 |
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4 | BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc02) { |
| 483 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_flat(); |
| 484 | pData.constraints_.flag_ |= | ||
| 485 | 2 | bezier_com_traj::INIT_ACC | bezier_com_traj::END_ACC; | |
| 486 | 2 | pData.constraints_.maxAcceleration_ = 0.2; | |
| 487 | 2 | pData.constraints_.constraintAcceleration_ = true; | |
| 488 |
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2 | VectorX Ts(3); |
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2 | Ts << 0.6, 0.6, 0.6; |
| 490 |
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2 | check_transition(pData, Ts, true); |
| 491 | 2 | } | |
| 492 | |||
| 493 | BOOST_AUTO_TEST_SUITE_END() | ||
| 494 | |||
| 495 | BOOST_AUTO_TEST_SUITE(platform) | ||
| 496 | |||
| 497 | // platform : first step : | ||
| 498 | // (0.35,0.1,0) ; (0.35,-0.1,0) -> (0.775, 0.23, -0.02);(0.35,-0.1,0) (normal : | ||
| 499 | // 0.0, -0.423, 0.906) | ||
| 500 | |||
| 501 | // second step : | ||
| 502 | // (0.775, 0.23, -0.02);(0.35,-0.1,0) -> (0.775, 0.23, -0.02);(1.15,-0.1,0) | ||
| 503 | // unfeasible in quasi-static | ||
| 504 | |||
| 505 | // third step : | ||
| 506 | //(0.775, 0.23, -0.02);(1.15,-0.1,0) -> (1.15,0.1,0);(1.15,-0.1,0) | ||
| 507 | |||
| 508 | 2 | bezier_com_traj::ContactData phase0_platform() { | |
| 509 |
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2 | bezier_com_traj::ContactData cData; |
| 510 |
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2 | MatrixX3 normals(2, 3), positions(2, 3); |
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2 | normals.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
| 512 |
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2 | positions.block<1, 3>(0, 0) = Vector3(0.35, 0.1, 0); |
| 513 |
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2 | normals.block<1, 3>(1, 0) = Vector3(0, 0, 1); |
| 514 |
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2 | positions.block<1, 3>(1, 0) = Vector3(0.35, -0.1, 0); |
| 515 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 516 |
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2 | computeRectangularContacts(normals, positions, LX, LY); |
| 517 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 518 |
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2 | ComputeContactCone(contacts.first, contacts.second)); |
| 519 | |||
| 520 |
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4 | ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(), |
| 521 |
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4 | Vector3(0.35, -0.1, 0)); |
| 522 | ConstraintsPair kin = | ||
| 523 |
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4 | stackConstraints(kin1, generateKinematicsConstraints( |
| 524 |
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4 | Matrix3::Identity(), Vector3(0.35, 0.1, 0))); |
| 525 |
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2 | cData.Kin_ = kin.first; |
| 526 |
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2 | cData.kin_ = kin.second; |
| 527 | |||
| 528 | 4 | return cData; | |
| 529 | 2 | } | |
| 530 | |||
| 531 | 2 | bezier_com_traj::ContactData phase1_platform() { | |
| 532 |
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2 | bezier_com_traj::ContactData cData; |
| 533 |
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2 | MatrixX3 normals(1, 3), positions(1, 3); |
| 534 |
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2 | normals.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
| 535 |
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2 | positions.block<1, 3>(0, 0) = Vector3(0.35, -0.1, 0); |
| 536 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 537 |
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2 | computeRectangularContacts(normals, positions, LX, LY); |
| 538 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 539 |
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2 | ComputeContactCone(contacts.first, contacts.second)); |
| 540 | |||
| 541 |
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4 | ConstraintsPair kin = generateKinematicsConstraints(Matrix3::Identity(), |
| 542 |
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4 | Vector3(0.35, -0.1, 0)); |
| 543 |
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2 | cData.Kin_ = kin.first; |
| 544 |
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2 | cData.kin_ = kin.second; |
| 545 | |||
| 546 | 4 | return cData; | |
| 547 | 2 | } | |
| 548 | |||
| 549 | 4 | bezier_com_traj::ContactData phase2_platform() { | |
| 550 |
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4 | bezier_com_traj::ContactData cData; |
| 551 |
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4 | MatrixX3 normals(2, 3), positions(2, 3); |
| 552 |
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4 | normals.block<1, 3>(0, 0) = Vector3(0.0, -0.423, 0.906).normalized(); |
| 553 |
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4 | positions.block<1, 3>(0, 0) = Vector3(0.775, 0.23, -0.02); |
| 554 |
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4 | normals.block<1, 3>(1, 0) = Vector3(0, 0, 1); |
| 555 |
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4 | positions.block<1, 3>(1, 0) = Vector3(0.35, -0.1, 0); |
| 556 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 557 |
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4 | computeRectangularContacts(normals, positions, LX, LY); |
| 558 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 559 |
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4 | ComputeContactCone(contacts.first, contacts.second)); |
| 560 | |||
| 561 |
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8 | ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(), |
| 562 |
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8 | Vector3(0.35, -0.1, 0)); |
| 563 | Eigen::Quaterniond quat = Eigen::Quaterniond::FromTwoVectors( | ||
| 564 |
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4 | Eigen::Vector3d::UnitZ(), Eigen::Vector3d(0.0, -0.423, 0.906)); |
| 565 |
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4 | Matrix3 rot = quat.normalized().toRotationMatrix(); |
| 566 | ConstraintsPair kin = stackConstraints( | ||
| 567 |
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4 | kin1, generateKinematicsConstraints(rot, Vector3(0.775, 0.23, -0.02))); |
| 568 |
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4 | cData.Kin_ = kin.first; |
| 569 |
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4 | cData.kin_ = kin.second; |
| 570 | |||
| 571 | 8 | return cData; | |
| 572 | 4 | } | |
| 573 | |||
| 574 | 2 | bezier_com_traj::ContactData phase3_platform() { | |
| 575 |
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2 | bezier_com_traj::ContactData cData; |
| 576 |
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2 | MatrixX3 normals(1, 3), positions(1, 3); |
| 577 |
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2 | normals.block<1, 3>(0, 0) = Vector3(0.0, -0.423, 0.906).normalized(); |
| 578 |
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2 | positions.block<1, 3>(0, 0) = Vector3(0.775, 0.23, -0.02); |
| 579 | |||
| 580 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 581 |
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2 | computeRectangularContacts(normals, positions, LX, LY); |
| 582 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 583 |
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2 | ComputeContactCone(contacts.first, contacts.second)); |
| 584 | |||
| 585 | Eigen::Quaterniond quat = Eigen::Quaterniond::FromTwoVectors( | ||
| 586 |
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2 | Eigen::Vector3d::UnitZ(), Eigen::Vector3d(0.0, -0.423, 0.906)); |
| 587 |
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2 | Matrix3 rot = quat.normalized().toRotationMatrix(); |
| 588 | ConstraintsPair kin = | ||
| 589 |
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2 | generateKinematicsConstraints(rot, Vector3(0.775, 0.23, -0.02)); |
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2 | cData.Kin_ = kin.first; |
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2 | cData.kin_ = kin.second; |
| 592 | |||
| 593 | 4 | return cData; | |
| 594 | 2 | } | |
| 595 | |||
| 596 | 4 | bezier_com_traj::ContactData phase4_platform() { | |
| 597 |
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4 | bezier_com_traj::ContactData cData; |
| 598 |
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4 | MatrixX3 normals(2, 3), positions(2, 3); |
| 599 |
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4 | normals.block<1, 3>(0, 0) = Vector3(0.0, -0.423, 0.906).normalized(); |
| 600 |
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4 | positions.block<1, 3>(0, 0) = Vector3(0.775, 0.23, -0.02); |
| 601 |
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4 | normals.block<1, 3>(1, 0) = Vector3(0, 0, 1); |
| 602 |
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4 | positions.block<1, 3>(1, 0) = Vector3(1.15, -0.1, 0); |
| 603 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 604 |
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4 | computeRectangularContacts(normals, positions, LX, LY); |
| 605 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 606 |
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4 | ComputeContactCone(contacts.first, contacts.second)); |
| 607 | |||
| 608 |
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8 | ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(), |
| 609 |
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8 | Vector3(1.15, -0.1, 0)); |
| 610 | Eigen::Quaterniond quat = Eigen::Quaterniond::FromTwoVectors( | ||
| 611 |
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4 | Eigen::Vector3d::UnitZ(), Eigen::Vector3d(0.0, -0.423, 0.906)); |
| 612 |
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4 | Matrix3 rot = quat.normalized().toRotationMatrix(); |
| 613 | ConstraintsPair kin = stackConstraints( | ||
| 614 |
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4 | kin1, generateKinematicsConstraints(rot, Vector3(0.775, 0.23, -0.02))); |
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4 | cData.Kin_ = kin.first; |
| 616 |
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4 | cData.kin_ = kin.second; |
| 617 | |||
| 618 | 8 | return cData; | |
| 619 | 4 | } | |
| 620 | |||
| 621 | 2 | bezier_com_traj::ContactData phase5_platform() { | |
| 622 |
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2 | bezier_com_traj::ContactData cData; |
| 623 |
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2 | MatrixX3 normals(1, 3), positions(1, 3); |
| 624 |
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2 | normals.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
| 625 |
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2 | positions.block<1, 3>(0, 0) = Vector3(1.15, -0.1, 0); |
| 626 | |||
| 627 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 628 |
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2 | computeRectangularContacts(normals, positions, LX, LY); |
| 629 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 630 |
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2 | ComputeContactCone(contacts.first, contacts.second)); |
| 631 | |||
| 632 |
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4 | ConstraintsPair kin = generateKinematicsConstraints(Matrix3::Identity(), |
| 633 |
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4 | Vector3(1.15, -0.1, 0)); |
| 634 |
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2 | cData.Kin_ = kin.first; |
| 635 |
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2 | cData.kin_ = kin.second; |
| 636 | |||
| 637 | 4 | return cData; | |
| 638 | 2 | } | |
| 639 | |||
| 640 | 2 | bezier_com_traj::ContactData phase6_platform() { | |
| 641 |
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2 | bezier_com_traj::ContactData cData; |
| 642 |
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2 | MatrixX3 normals(2, 3), positions(2, 3); |
| 643 |
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2 | normals.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
| 644 |
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2 | positions.block<1, 3>(0, 0) = Vector3(1.15, -0.1, 0); |
| 645 |
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2 | normals.block<1, 3>(1, 0) = Vector3(0, 0, 1); |
| 646 |
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2 | positions.block<1, 3>(1, 0) = Vector3(1.15, 0.1, 0); |
| 647 | |||
| 648 | std::pair<MatrixX3, MatrixX3> contacts = | ||
| 649 |
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2 | computeRectangularContacts(normals, positions, LX, LY); |
| 650 | ✗ | cData.contactPhase_ = new centroidal_dynamics::Equilibrium( | |
| 651 |
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2 | ComputeContactCone(contacts.first, contacts.second)); |
| 652 | |||
| 653 |
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4 | ConstraintsPair kin1 = generateKinematicsConstraints(Matrix3::Identity(), |
| 654 |
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4 | Vector3(1.15, -0.1, 0)); |
| 655 | ConstraintsPair kin = | ||
| 656 |
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4 | stackConstraints(kin1, generateKinematicsConstraints( |
| 657 |
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4 | Matrix3::Identity(), Vector3(1.15, 0.1, 0))); |
| 658 |
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2 | cData.Kin_ = kin.first; |
| 659 |
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2 | cData.kin_ = kin.second; |
| 660 | |||
| 661 | 4 | return cData; | |
| 662 | 2 | } | |
| 663 | |||
| 664 | 1 | bezier_com_traj::ProblemData gen_problem_data_Step0() { | |
| 665 | 1 | bezier_com_traj::ProblemData pData; | |
| 666 |
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1 | pData.c0_ = Vector3(0.35, 0, NOMINAL_COM_HEIGHT); |
| 667 |
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1 | pData.c1_ = Vector3(0.56, 0.04, NOMINAL_COM_HEIGHT); |
| 668 |
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1 | pData.dc0_ = Vector3::Zero(); |
| 669 |
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1 | pData.dc1_ = Vector3::Zero(); |
| 670 |
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1 | pData.ddc0_ = Vector3::Zero(); |
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1 | pData.ddc1_ = Vector3::Zero(); |
| 672 | |||
| 673 |
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1 | pData.contacts_.push_back(phase0_platform()); |
| 674 |
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1 | pData.contacts_.push_back(phase1_platform()); |
| 675 |
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1 | pData.contacts_.push_back(phase2_platform()); |
| 676 | |||
| 677 | 1 | return pData; | |
| 678 | ✗ | } | |
| 679 | |||
| 680 | 1 | bezier_com_traj::ProblemData gen_problem_data_Step1() { | |
| 681 | 1 | bezier_com_traj::ProblemData pData; | |
| 682 |
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1 | pData.c0_ = Vector3(0.56, 0.04, 0.765); |
| 683 |
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1 | pData.c1_ = Vector3(0.98, 0.02, 0.77); |
| 684 |
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1 | pData.dc0_ = Vector3::Zero(); |
| 685 |
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1 | pData.dc1_ = Vector3::Zero(); |
| 686 |
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1 | pData.ddc0_ = Vector3::Zero(); |
| 687 |
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1 | pData.ddc1_ = Vector3::Zero(); |
| 688 | |||
| 689 |
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1 | pData.contacts_.push_back(phase2_platform()); |
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1 | pData.contacts_.push_back(phase3_platform()); |
| 691 |
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1 | pData.contacts_.push_back(phase4_platform()); |
| 692 | |||
| 693 | 1 | return pData; | |
| 694 | ✗ | } | |
| 695 | |||
| 696 | 1 | bezier_com_traj::ProblemData gen_problem_data_Step2() { | |
| 697 | 1 | bezier_com_traj::ProblemData pData; | |
| 698 |
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1 | pData.c0_ = Vector3(0.98, 0.04, NOMINAL_COM_HEIGHT); |
| 699 |
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1 | pData.c1_ = Vector3(1.15, 0, NOMINAL_COM_HEIGHT); |
| 700 |
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1 | pData.dc0_ = Vector3::Zero(); |
| 701 |
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1 | pData.dc1_ = Vector3::Zero(); |
| 702 |
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1 | pData.ddc0_ = Vector3::Zero(); |
| 703 |
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1 | pData.ddc1_ = Vector3::Zero(); |
| 704 | |||
| 705 |
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1 | pData.contacts_.push_back(phase4_platform()); |
| 706 |
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1 | pData.contacts_.push_back(phase5_platform()); |
| 707 |
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1 | pData.contacts_.push_back(phase6_platform()); |
| 708 | |||
| 709 | 1 | return pData; | |
| 710 | ✗ | } | |
| 711 | |||
| 712 |
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|
4 | BOOST_AUTO_TEST_CASE(quasi_static_0) { |
| 713 | // should be successfull in quasiStatic | ||
| 714 | // compute kinematic constraints for the right foot : | ||
| 715 |
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2 | bezier_com_traj::ContactData cDataFirst = phase0_platform(); |
| 716 |
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2 | bezier_com_traj::ContactData cDataMid = phase1_platform(); |
| 717 |
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2 | bezier_com_traj::ContactData cDataSecond = phase2_platform(); |
| 718 | |||
| 719 |
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2 | ConstraintsPair kin_first = std::make_pair(cDataFirst.Kin_, cDataFirst.kin_); |
| 720 | ConstraintsPair kin_second = | ||
| 721 |
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2 | std::make_pair(cDataSecond.Kin_, cDataSecond.kin_); |
| 722 |
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2 | ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_); |
| 723 |
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2 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
| 724 |
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2 | Vector3 init = Vector3::Zero(); |
| 725 | |||
| 726 |
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2 | ConstraintsPair Ab_first = stackConstraints(kin_first, stab); |
| 727 | bezier_com_traj::ResultData res_first = | ||
| 728 |
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2 | bezier_com_traj::solve(Ab_first, Hg, init); |
| 729 |
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2 | BOOST_CHECK(res_first.success_); |
| 730 | |||
| 731 |
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2 | ConstraintsPair Ab_second = stackConstraints(kin_second, stab); |
| 732 | bezier_com_traj::ResultData res_second = | ||
| 733 |
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2 | bezier_com_traj::solve(Ab_second, Hg, init); |
| 734 |
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2 | BOOST_CHECK(res_second.success_); |
| 735 | |||
| 736 |
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2 | delete cDataFirst.contactPhase_; |
| 737 |
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2 | delete cDataMid.contactPhase_; |
| 738 |
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2 | delete cDataSecond.contactPhase_; |
| 739 | 2 | } | |
| 740 | |||
| 741 |
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|
4 | BOOST_AUTO_TEST_CASE(quasi_static_1) { |
| 742 | // should NOT be successfull in quasiStatic | ||
| 743 | // compute kinematic constraints for the right foot : | ||
| 744 |
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2 | bezier_com_traj::ContactData cDataFirst = phase2_platform(); |
| 745 |
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2 | bezier_com_traj::ContactData cDataMid = phase3_platform(); |
| 746 |
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2 | bezier_com_traj::ContactData cDataSecond = phase4_platform(); |
| 747 | |||
| 748 |
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2 | ConstraintsPair kin_first = std::make_pair(cDataFirst.Kin_, cDataFirst.kin_); |
| 749 | ConstraintsPair kin_second = | ||
| 750 |
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2 | std::make_pair(cDataSecond.Kin_, cDataSecond.kin_); |
| 751 |
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2 | ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_); |
| 752 |
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2 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
| 753 |
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2 | Vector3 init = Vector3::Zero(); |
| 754 | |||
| 755 |
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2 | ConstraintsPair Ab_first = stackConstraints(kin_first, stab); |
| 756 | bezier_com_traj::ResultData res_first = | ||
| 757 |
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2 | bezier_com_traj::solve(Ab_first, Hg, init); |
| 758 |
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2 | BOOST_CHECK(!res_first.success_); |
| 759 | |||
| 760 |
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2 | ConstraintsPair Ab_second = stackConstraints(kin_second, stab); |
| 761 | bezier_com_traj::ResultData res_second = | ||
| 762 |
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2 | bezier_com_traj::solve(Ab_second, Hg, init); |
| 763 |
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2 | BOOST_CHECK(!res_second.success_); |
| 764 | |||
| 765 |
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2 | delete cDataFirst.contactPhase_; |
| 766 |
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2 | delete cDataMid.contactPhase_; |
| 767 |
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2 | delete cDataSecond.contactPhase_; |
| 768 | 2 | } | |
| 769 | |||
| 770 |
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|
4 | BOOST_AUTO_TEST_CASE(quasi_static_2) { |
| 771 | // should be successfull in quasiStatic | ||
| 772 | // compute kinematic constraints for the right foot : | ||
| 773 |
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2 | bezier_com_traj::ContactData cDataFirst = phase4_platform(); |
| 774 |
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2 | bezier_com_traj::ContactData cDataMid = phase5_platform(); |
| 775 |
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2 | bezier_com_traj::ContactData cDataSecond = phase6_platform(); |
| 776 | |||
| 777 |
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2 | ConstraintsPair kin_first = std::make_pair(cDataFirst.Kin_, cDataFirst.kin_); |
| 778 | ConstraintsPair kin_second = | ||
| 779 |
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2 | std::make_pair(cDataSecond.Kin_, cDataSecond.kin_); |
| 780 |
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2 | ConstraintsPair stab = generateStabilityConstraints(*cDataMid.contactPhase_); |
| 781 |
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2 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
| 782 |
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2 | Vector3 init = Vector3::Zero(); |
| 783 | |||
| 784 |
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2 | ConstraintsPair Ab_first = stackConstraints(kin_first, stab); |
| 785 | bezier_com_traj::ResultData res_first = | ||
| 786 |
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2 | bezier_com_traj::solve(Ab_first, Hg, init); |
| 787 |
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2 | BOOST_CHECK(res_first.success_); |
| 788 | |||
| 789 |
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2 | ConstraintsPair Ab_second = stackConstraints(kin_second, stab); |
| 790 | bezier_com_traj::ResultData res_second = | ||
| 791 |
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2 | bezier_com_traj::solve(Ab_second, Hg, init); |
| 792 |
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2 | BOOST_CHECK(res_second.success_); |
| 793 | |||
| 794 |
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2 | delete cDataFirst.contactPhase_; |
| 795 |
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2 | delete cDataMid.contactPhase_; |
| 796 |
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2 | delete cDataSecond.contactPhase_; |
| 797 | 2 | } | |
| 798 | |||
| 799 |
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4 | BOOST_AUTO_TEST_CASE(transition_0) { |
| 800 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_Step0(); |
| 801 |
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2 | VectorX Ts(3); |
| 802 |
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2 | Ts << 0.8, 0.6, 0.8; |
| 803 |
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2 | check_transition(pData, Ts); |
| 804 | 2 | } | |
| 805 | |||
| 806 |
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4 | BOOST_AUTO_TEST_CASE(transition_1) { |
| 807 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_Step1(); |
| 808 |
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2 | VectorX Ts(3); |
| 809 |
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2 | Ts << 0.4, 0.2, 0.4; |
| 810 | |||
| 811 |
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2 | check_transition(pData, Ts); |
| 812 | 2 | } | |
| 813 | |||
| 814 |
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4 | BOOST_AUTO_TEST_CASE(transition_2) { |
| 815 |
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2 | bezier_com_traj::ProblemData pData = gen_problem_data_Step2(); |
| 816 |
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2 | VectorX Ts(3); |
| 817 |
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2 | Ts << 0.8, 0.6, 0.8; |
| 818 | |||
| 819 |
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2 | check_transition(pData, Ts); |
| 820 | 2 | } | |
| 821 | |||
| 822 | BOOST_AUTO_TEST_SUITE_END() | ||
| 823 |